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Dynamic modeling and optimal control of a novel microswimmer with gimbal based disks

Nickandish, A ; Sharif University of Technology | 2021

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  1. Type of Document: Article
  2. DOI: 10.1017/S0263574720001289
  3. Publisher: Cambridge University Press , 2021
  4. Abstract:
  5. We have introduced a new low-Reynolds-number microrobot with high 3D maneuverability. Our novel proposed microrobot has a higher rank of the controllability matrix with respect to the previous microswimmers which makes it capable of performing complex motions in space. In this study, governing equations of the microswimmer's motion have been derived and simulated. Subsequently, we have proposed a cascade optimal control technique to control the swimmer trajectory. In the proposed control scheme, the actuation is provided in a way that an exponential stability on the system trajectory error as well as minimum fluctuations of control signals are achieved. © The Author(s), 2021. Published by Cambridge University Press
  6. Keywords:
  7. Agricultural robots ; Microrobots ; Reynolds number ; Complex motion ; Control schemes ; Controllability matrices ; Governing equations ; Low Reynolds number ; Optimal control technique ; Optimal controls ; System trajectory ; Data communication equipment
  8. Source: Robotica ; Volume 39, Issue 8 , 2021 , Pages 1468-1484 ; 02635747 (ISSN)
  9. URL: https://www.cambridge.org/core/journals/robotica/article/abs/dynamic-modeling-and-optimal-control-of-a-novel-microswimmer-with-gimbal-based-disks/6273BF7951CE19498F5D2CCAFE6E2CEC